Tessellation-based coarse registration method for 3D reconstruction of the female torso

The medical procedures related with the Breast Cancer Conservative Treatment (BCCT) have evolved towards the usage of affordable and practical tools, along with the recent inclusion of volumetric information of the breast. A richer three-dimensional (3D) model of the female torso allows, for instance, improvement of the evaluation the aesthetic outcome of BCCT and the surgery planning. The standard 3D reconstruction methods often fail to model objects of interest using highly misaligned views. In this work, a Tessellation-based coarse registration method is proposed, based on robust keypoints extraction from RGB-D data using the Delaunay Triangulation (DT) principle. With this method, it is possible to reconstruct female torso data with detail using only 3 views, in feasible time. Structures such as the nipples and the breast contour were correctly reconstructed and a highly correlated with reference models.